Abstract
AbstractMaking use of natural dynamics of mechanical systems is extremely powerful for generating highly dynamic motion with impressive performance. Optimal trajectories, however, are difficult to find when the systems has weak actuation or totally passive degrees of freedom during motion. We discuss how the complexity of a finite-time optimal control problem for an underactuated two-link robot gets reduced by using a geometric parameterization of motion. A performance index for maximum velocity is analytically derived enabling a parametric search and study of parameter sensitivities. We investigate a formulation of a necessary condition for optimality. A small number of parameters describes an optimal pitching motion.
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